Benjamin was a member of the first class of the drama division of the Juilliard School and was a founding member of The Acting Company, under the late John Houseman. Acting Company productions in repertory, on national tours, and on Broadway, in which Hendrickson performed include: The Three Sisters, The Time of Your Life, Next Time I'll Sing to You, The Hostage, The Robber Bridegroom, Measure for Measure, Edward II, The Taming of the Shrew, The Knack, The Lower Depths, and Arms and the Man.

On Broadway, Benjamin has appeared in Awake and Sing, Strider, and in the title role of The Elephant Man. His off-Broadway credits include The Lisbon Traviata, After the Fall, The Rear Column, The Philanthropist, and Life and Limb.

His regional theater credits include: Terra Nova, Romeo and Juliet, and Loves Labors Lost at the Old Globe Theater in San Diego; and Otherwise Engaged and Richard III at the Goodman Theater in Chicago.

Benjamin has appeared in many feature films including Spanking the Monkey, Regarding Henry, Consenting Adults, and Manhunter.

He has also appeared in the daytime dramas Guiding Light, Texas, and Another World. His primetime television credits include Law & Order and Mann & Machine; the TV movies The Demon Murder Case and King of the Line; and the PBS Theater in America production of Time of Your Life.

Born on August 26, 1950 in Huntington, New York, Hendrickson was an avid golfer and spent much of his down time on the green with his As The World Turns co-stars. He passed away suddenly on July 3rd, 2006. He was 55.